CN113424126A - Cloud deck control method and cloud deck - Google Patents

Cloud deck control method and cloud deck Download PDF

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Publication number
CN113424126A
CN113424126A CN201980091847.6A CN201980091847A CN113424126A CN 113424126 A CN113424126 A CN 113424126A CN 201980091847 A CN201980091847 A CN 201980091847A CN 113424126 A CN113424126 A CN 113424126A
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China
Prior art keywords
axis
shooting
shooting device
attitude
orientation
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CN201980091847.6A
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Chinese (zh)
Inventor
林荣华
苏铁
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN113424126A publication Critical patent/CN113424126A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/10—Control of position or direction without using feedback

Abstract

A control method of a pan/tilt head and a pan/tilt head, the pan/tilt head having a camera mounted thereon, the pan/tilt head being configured to rotate about at least two axes, the method comprising: acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode; switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device; controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to a second shooting mode; the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation. The problem of current cloud platform because the universal joint lock that mode switching arouses is dead is solved to this application for can better smooth switch between two kinds of modes, promote user experience.

Description

Cloud deck control method and cloud deck Technical Field
The application relates to the field of cloud platforms, in particular to a cloud platform control method and a cloud platform.
Background
Some cloud platforms now realize the switching of violently clapping and erectting clapping based on mechanical structure, will shoot the device and install on the cloud platform through rotatable support, realize violently clapping and erectting the switching of clapping through the manually rotation rotatable support. The design needs to add mechanical structure, increases design/manufacturing cost, and has the problem of inconvenient operation. In addition, some pan heads adopt different structural members (such as common fast-assembly plates and L-shaped fast-assembly structural members) to install the shooting device, so that transverse shooting and vertical shooting are respectively realized, the shooting device is installed by adopting different structural members so as to realize switching of transverse shooting and vertical shooting, operations such as re-assembling and disassembling, leveling and parameter adjustment are required during switching, and the operations are not only complicated, complex and time-consuming, but also can bring mechanical interference. In order to solve the problem of mechanical interference, an additional counterweight is required, and the additional counterweight may exceed the load bearing capacity of the holder.
Still some cloud platforms adopt automatic control mode to realize the switching of violently clapping and erectting clapping, take three-axis cloud platform as an example, and three-axis cloud platform includes outer frame, well frame and internal frame, and the shooting device is fixed on the internal frame, through the rotation of control outer frame, well frame and internal frame, realizes violently clapping and erects the switching of clapping. However, in some cases, the rotation axes of two motors coincide after the horizontal shooting and the vertical shooting are switched, for example, the axes of the pitch axis motor and the yaw axis motor coincide, so that the gimbal is locked, and the three-axis pan-tilt can only increase stability in two directions, thereby reducing stability increase performance, even shaking, unsmooth performance, and the like.
Disclosure of Invention
The application provides a control method of a cloud platform and the cloud platform.
According to a first aspect of the present application, there is provided a method of controlling a pan/tilt head having a camera mounted thereon, the pan/tilt head being configured to rotate about at least two axes, the method comprising:
acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode;
switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device;
controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to the second shooting mode;
wherein the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation.
According to a second aspect of the present application, there is provided a head comprising:
a base;
the shaft assembly is arranged on the base and used for carrying a shooting device, and the shaft assembly is configured to rotate around at least two shafts; and
the controller, the controller with the cloud platform electricity is connected, the controller is used for:
acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode;
switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device;
controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to the second shooting mode;
wherein the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation.
According to the technical scheme provided by the embodiment of the application, after the cloud deck receives the switching instruction for indicating the shooting device to be switched from the first shooting mode to the second shooting mode, before the shooting device is switched to the second shooting mode, the control instruction of the cloud deck is switched, namely the Euler angle rotation sequence of the shooting device after the mode switching is changed, so that the cloud deck keeps the rotation freedom degree of the original dimension after the mode switching, the problem that a universal joint of the existing cloud deck is locked due to the mode switching is solved, the two modes can be switched smoothly, the user experience is improved, and the shooting device carried by the cloud deck is prevented from being damaged by impact and shaking in the mode switching process; meanwhile, the switching of the shooting mode of the shooting device can be realized without adding a mechanical mechanism, so that the design and manufacturing cost is reduced; in addition, the shooting mode of the shooting device is switched without manual operation, loading and unloading, leveling, parameter adjustment and the like, and the shooting device is convenient, friendly, time-saving and labor-saving to operate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a perspective view of a pan/tilt head according to an embodiment of the present invention;
fig. 2 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application;
FIG. 3A is a schematic diagram of a camera in an embodiment of the present application when shooting in a horizontal orientation;
FIG. 3B is a schematic view of the camera in an embodiment of the present application when shooting in a vertical orientation;
FIG. 4 is a perspective view of the handheld tripod head shown in FIG. 1 when in an upright position;
fig. 5 is a schematic flowchart of an implementation manner of controlling the rotation of the pan/tilt head according to the switched control command in an embodiment of the present application;
fig. 6 is a block diagram of a cradle head in an embodiment of the present application.
Detailed Description
In the existing cradle heads, a mechanical structure needs to be added, the design/manufacturing cost is increased, and the problem of inconvenient operation exists in the design mode of switching the horizontal shooting and the vertical shooting by manually rotating the rotatable support; in addition, some cradle heads adopt different structural members (such as common fast-assembled plates and L-shaped fast-assembled structural members) to respectively realize horizontal shooting and vertical shooting, and operations such as reloading, leveling and parameter adjustment are needed during switching. In order to solve the problem of mechanical interference, an additional counterweight is required, and the additional counterweight may exceed the load bearing capacity of the holder.
In addition, taking a three-axis pan-tilt as an example, after the three-axis pan-tilt realizes switching between horizontal shooting and vertical shooting by adopting an automatic control mode, rotating shafts of two motors may coincide, for example, axes of a pitch axis motor and a yaw axis motor coincide, so that a gimbal is locked (which may also be referred to as a singular problem of pitch control), and the three-axis pan-tilt can only increase stability in two directions, so that stability increasing performance is reduced, even jitter, unsmooth performance and the like are caused.
In this regard, after the pan-tilt of the present application receives a switching instruction instructing the shooting device to switch from the first shooting mode to the second shooting mode, before the shooting device is switched to the second shooting mode, a control instruction of the pan-tilt is switched, that is, an euler angle rotation sequence of the shooting device after the mode switching is changed, so that the pan-tilt keeps a rotational degree of freedom of an original dimension after the mode switching, and a problem of locking of a gimbal due to the mode switching of the existing pan-tilt is solved, so that the two modes can be switched smoothly, user experience is improved, and impact and jitter in the mode switching process are avoided to damage the shooting device carried by the pan-tilt; meanwhile, the switching of the shooting mode of the shooting device can be realized without adding a mechanical mechanism, so that the design and manufacturing cost is reduced; in addition, the shooting mode of the shooting device is switched without manual operation, loading and unloading, leveling, parameter adjustment and the like, and the shooting device is convenient, friendly, time-saving and labor-saving to operate.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
The cloud deck of the embodiment of the application is provided with the shooting device, and the shooting device can be a video camera, a single lens reflex, a micro lens reflex, a motion camera, a smart phone and the like.
Wherein the head is configured to rotate about at least two axes. The pan/tilt head of the present embodiment may be configured to rotate about two axes, and may also be configured to rotate about three axes or more. For example, in some embodiments, the head is configured to rotate about two axes, including a yaw axis and a pitch axis. In some further embodiments, the head is configured to rotate about three axes, including a yaw axis, a pitch axis, and a roll axis.
The cloud platform of this application embodiment can be for handheld cloud platform, also can be for machine carries the cloud platform, and machine carries on the cloud platform and can carry on movable platform, and this movable platform can be unmanned aerial vehicle, unmanned car, mobile robot etc..
For example, referring to fig. 1, the pan/tilt head is a handheld pan/tilt head, and the pan/tilt head is a three-axis pan/tilt head, and the pan/tilt head of the present embodiment is configured to rotate around a yaw axis, a pitch axis, and a roll axis. The handheld tripod head may include an outer frame 11 configured to rotate about a yaw axis, an intermediate frame 12 configured to rotate about a yaw axis, and an inner frame 12 configured to rotate about a pitch axis, and the inner frame is used to mount the photographing device 2. Wherein, outer frame 11 includes the yaw axis shaft arm, and is driven by the yaw axis motor, and well frame 12 includes the roll axis shaft arm, and is driven by the roll axis motor, and the inner frame includes the pitch axis shaft arm, and is driven by the pitch axis motor.
The following will explain a specific implementation process of the pan-tilt control method according to the embodiment of the present application.
Fig. 2 is a schematic method flow diagram of a control method of a pan/tilt head in an embodiment of the present application; referring to fig. 2, the method for controlling the pan/tilt head of the present embodiment may include the following steps:
s201: acquiring a switching instruction for instructing a shooting device to switch from a first shooting mode to a second shooting mode, wherein the first shooting mode comprises one of shooting in a first orientation and shooting in a second orientation, and the second shooting mode comprises the other of shooting in the first orientation and shooting in the second orientation;
the switching instruction may be generated in various ways, for example, in some embodiments, the cradle head includes a base and a control portion disposed on the base, and the switching instruction is generated by a user triggering the control portion. The control portion may include a key, a button, a knob, or a combination thereof. The control unit of the present embodiment may include one or more than one. When the cloud platform is handheld cloud platform, handheld cloud platform can include the handle, and the control part can be located on the handle.
In other embodiments, the switching instruction is generated by a user operating an external device and is sent by the external device. This external equipment can communicate with the cloud platform, and external equipment can include mobile terminal such as cell-phone, panel computer, also can be fixed terminal, still can be the controlling means of remote controller or other cloud platforms.
The first orientation and the second orientation may be set as desired, for example, in some embodiments, the first orientation may include one of a horizontal orientation and a vertical orientation, the second orientation may include the other of the horizontal orientation and the vertical orientation, and of course, the second orientation may be set as another shooting orientation.
In other embodiments, the second orientation includes one of a horizontal orientation and a vertical orientation, and the first orientation may include the other of the horizontal orientation and the vertical orientation, although the first orientation may be set to other shooting orientations.
In other embodiments, the first orientation may include one of a horizontal orientation and a vertical orientation and the second orientation includes the other of the horizontal orientation and the vertical orientation, illustratively, the first orientation is the horizontal orientation and the second orientation is the vertical orientation, or the first orientation is the vertical orientation and the second orientation is the horizontal orientation.
The horizontal shooting may be referred to as horizontal shooting, and the vertical shooting may be referred to as vertical shooting.
For a given aspect ratio of the picture, taking the camera as a mobile phone as an example, please refer to fig. 3A, where 10 is a horizontal plane, 20 is a long side of the picture, and 30 is a short side of the picture, and the long side 20 of the picture is rotated to the horizontal direction (that is, the long side 20 of the picture is parallel to the horizontal plane 10) to perform shooting, that is, the camera performs shooting in the horizontal orientation. The photographing device is vertically installed on the holder so as to photograph a vertical picture relative to a horizontal plane, and referring to fig. 3B, the long side 20 of the picture is rotated to the vertical direction (that is, the long side 20 of the picture is perpendicular to the horizontal plane) to photograph, that is, the photographing device photographs in the vertical orientation, along with the embodiment that the photographing device is a mobile phone. Of course, the exemplary definitions of horizontal and vertical beats may also be completely reversed from the above description.
S202: switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device;
for example, the pan/tilt head is configured to rotate around two axes, the two axes include a yaw axis and a pitch axis, and the rotational degree of freedom of the pan/tilt head maintaining the original dimension after the mode switching means: when the shooting device is in a first shooting mode (namely before mode switching), the tripod head rotates around a yaw axis and a pitch axis; when the photographing device is in the second photographing mode (i.e., after mode switching), the pan/tilt head also rotates about the yaw axis and the pitch axis. For another example, the pan/tilt head is configured to rotate around three axes, where the three axes include a yaw axis, a pitch axis, and a roll axis, and the rotational degree of freedom of the pan/tilt head maintaining the original dimension after the mode switching means: when the shooting device is in a first shooting mode, the tripod head rotates around the yaw axis, the pitch axis and the roll axis; when the photographing device is in the second photographing mode, the pan/tilt head also rotates about the yaw axis, the pitch axis, and the roll axis.
In the embodiment of the present application, the control instruction of the pan/tilt head is switched, that is, the euler angle rotation sequence of the shooting device is switched, and the euler angle rotation sequence of the shooting device corresponding to the switched control instruction needs to be determined according to the shooting orientation of the shooting device corresponding to the second shooting mode.
Taking the example that the pan-tilt is configured to rotate around three axes, for example, the euler angle of the shooting device corresponds to the rotation of a first axis, a second axis, and a third axis, wherein the first axis is parallel to the optical axis direction of the shooting device, and the first axis, the second axis, and the third axis are respectively orthogonal. The direction of the first axis, the direction of the second axis, and the direction of the third axis are determined according to the placement direction of the photographing device and the direction of the optical axis, and illustratively, when the photographing device is placed in a horizontal orientation and the optical axis of the photographing device is parallel to a horizontal plane, the third axis is a vertical direction, and the first axis and the second axis are both parallel to the horizontal plane.
Herein, the first axis corresponds to a roll axis, the second axis corresponds to a pitch axis, and the third axis corresponds to a yaw axis, and for convenience of description, the first axis, the second axis, and the third axis are respectively represented by X, Y, Z.
In some embodiments, when the second photographing mode is photographing in a vertical orientation, the euler angle rotation order of the photographing device corresponding to the switched control command is: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft. Further, it is determined according to the configuration of the pan/tilt head that the euler angular rotation order of the shooting device corresponding to the switched control command is any one of the euler angular rotation orders, and optionally, when the pan/tilt head is in the ZXY configuration, the euler angular rotation order of the shooting device corresponding to the switched control command is: third axle, first axle, third axle. Optionally, when the pan/tilt head is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second shaft, first shaft, second shaft.
In some other embodiments, when the second shooting mode is shooting in a horizontal orientation, the euler angle rotation order of the shooting device corresponding to the switched control command is: a second axis, a first axis, a third axis, or a third axis, a first axis, a second axis. Further, the euler angle rotation sequence of the shooting device corresponding to the switched control command is determined according to the configuration of the holder. Optionally, when the pan/tilt head is in the ZXY configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is: third axle, first axle, second axle. Optionally, when the pan/tilt head is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second axis, first axis, third axis.
A ZXY configuration of the pan-tilt and a YXZ configuration of the pan-tilt are illustrated by way of example of a three-axis pan-tilt configured to rotate about a yaw axis, a pitch axis, and a roll axis. For the cradle head with the ZXY configuration, when the cradle head is placed upright and the joint angles of the outer frame, the middle frame and the inner frame are all 0 degree, the outer frame rotates around a yaw axis, the middle frame rotates around a transverse rolling shaft, and the inner frame rotates around a pitch axis. For the pan-tilt with the YXZ configuration, when the pan-tilt is placed upright and the joint angles of the outer frame, the middle frame and the inner frame are all 0 degree, the outer frame rotates around the pitch axis, the middle frame rotates around the roll axis, and the inner frame rotates around the yaw axis.
For example, following the above-mentioned embodiment of the handheld cloud deck, please refer to fig. 4, the handheld cloud deck further includes a handle 3, and a screen 4 and a button (not shown) disposed on the front surface of the handle 3. When the handheld tripod head is placed upright, the screen 4 faces the user, and the lens of the shooting device faces away from the user, as shown in fig. 4, the handheld tripod head is in a state diagram of being placed upright. The handheld pan/tilt head shown in fig. 4 is a pan/tilt head with a ZXY configuration.
When the shooting device is currently in horizontal orientation shooting and the real-time roll attitude component of the shooting device is one of 0 degree, 180 degrees and-180 degrees, if the control instruction of the pan-tilt is switched directly according to the switching instruction, the rotating shafts of two motors are overlapped when the shooting device is controlled to be switched from the horizontal orientation shooting to the vertical orientation shooting according to the switched control instruction, so that the universal joint is locked; when the shooting device is currently in vertical orientation shooting and the real-time roll attitude component of the shooting device is one of 90 degrees and-90 degrees, if the control instruction of the pan-tilt is switched directly according to the switching instruction, the rotating shafts of two motors are overlapped when the shooting device is controlled to be switched from vertical orientation shooting to horizontal orientation shooting according to the switched control instruction, and therefore the universal joint is locked.
In order to avoid the dead lock of the gimbal during the mode switching, in this embodiment, according to the switching instruction, the implementation process of the control instruction for switching the pan/tilt head may include:
(1) acquiring a real-time roll attitude component of the shooting device;
the real-time roll attitude component of the camera may be detected from an Inertial Measurement Unit (IMU) on the camera.
(2) And if the real-time rolling attitude component meets the preset condition, switching the control instruction of the holder according to the switching instruction.
Wherein, when the first photographing mode is photographing in a horizontal orientation, the preset conditions include: the real-time roll attitude component is not 0 degree, 180 degrees or-180 degrees, that is, when the first shooting mode is shooting in the horizontal orientation, if the real-time roll attitude component is not 0 degree, 180 degrees or-180 degrees, the control instruction of the pan-tilt is directly switched according to the switching instruction, and at the moment, according to the switched control instruction, the shooting device is controlled to be switched from the horizontal orientation shooting to the vertical orientation shooting, so that the universal joint cannot be locked.
When the first photographing mode is photographing in a vertical orientation, the preset conditions include: the real-time roll attitude component is not 90 degrees or-90 degrees, that is, when the first shooting mode is shooting in the vertical orientation, if the real-time roll attitude component is not 90 degrees or-90 degrees, the control instruction of the pan-tilt is directly switched according to the switching instruction, and at the moment, according to the switched control instruction, the shooting device is controlled to be switched from the vertical orientation shooting to the horizontal orientation shooting, so that the universal joint cannot be locked.
Further, the control method of the pan/tilt head of the embodiment may further include: and if the real-time rolling attitude component does not meet the preset condition, controlling the cradle head to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the real-time rolling attitude component of the deviated shooting device to meet the preset condition. When the real-time roll attitude component does not meet the preset condition, if the control instruction of the pan-tilt is switched directly according to the switching instruction, controlling the shooting device to be switched from the first shooting mode to the second shooting mode according to the switched control instruction to cause the universal joint to be locked; in this embodiment, when the real-time roll attitude component does not satisfy the preset condition, the cradle head is controlled to rotate first, so that the real-time roll attitude component of the shooting device deviates by a preset angle, and the deviated real-time roll attitude component of the shooting device satisfies the preset condition; and then, switching the control instruction of the holder according to the switching instruction, and controlling the shooting device to be switched from the first shooting mode to the second shooting mode according to the switched control instruction at the moment, so that the universal joint cannot be locked.
Wherein, control cloud platform rotates to make the real-time roll attitude component skew of shooting device predetermine the angle, and make the real-time roll attitude component of shooting device after the skew satisfy the realization process of predetermineeing the condition and can include: and controlling the holder to rotate according to a control instruction corresponding to the first shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the real-time rolling attitude component of the deviated shooting device to meet a preset condition. Taking the cradle head with the ZXY configuration as an example, when the first shooting mode is shooting in a horizontal orientation and the second shooting mode is shooting in a vertical orientation, the cradle head is controlled to rotate according to the euler angle rotation sequence of the third axis, the first axis and the second axis, so that the real-time roll attitude component of the shooting device is shifted by a preset angle, and the shifted real-time roll attitude component of the shooting device meets a preset condition. When the first shooting mode is shooting in a vertical orientation and the second shooting mode is shooting in a horizontal orientation, the cradle head is controlled to rotate according to the Euler angle rotation sequence of the third shaft, the first shaft and the third shaft, so that the real-time rolling attitude component of the shooting device deviates by a preset angle, and the deviated real-time rolling attitude component of the shooting device meets a preset condition.
The size of the preset angle can be set according to needs, for example, the preset angle can be 5 degrees, and other degrees can also be provided.
S203: and controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to a second shooting mode.
Fig. 5 is a schematic flowchart of an implementation manner of controlling the rotation of the pan/tilt head according to the switched control command in an embodiment of the present application; referring to fig. 5, according to the switched control instruction, the implementation manner of controlling the rotation of the pan/tilt head may include:
s501: determining the target posture of the shooting device according to the second shooting mode;
s502: and controlling the cradle head to rotate according to the switched control instruction and the target attitude.
Wherein when the second photographing mode is photographing in a vertical orientation, the target posture includes a target roll posture component of the photographing device being 90 degrees or-90 degrees. In this embodiment, according to the control instruction after switching, the pan/tilt head is controlled to rotate, so that the target roll attitude component of the shooting device is 90 degrees or-90 degrees, and thus the shooting device is switched to shooting in a vertical orientation. For other attitude components of the shooting device, such as a yaw attitude component and/or a pitch attitude component, the control may not be performed, and the other attitude components of the shooting device may also be controlled to be a preset size as required.
In addition, when the second photographing mode is photographing in a vertical orientation, controlling the pan/tilt head to rotate according to the switched control instruction and the target posture may further include:
(1) acquiring the posture of a base of the holder;
in this embodiment, the posture of the base may be directly obtained, for example, an Inertial Measurement Unit (IMU) is placed on the base, and the posture of the base is obtained through detection by the IMU on the base; the attitude of the base may also be obtained indirectly, optionally determined from the attitude of the camera.
Taking a handheld pan/tilt head as an example, how to determine the posture of the base according to the posture of the shooting device is described. The base is the handle of handheld cloud platform, and the handheld cloud platform of this embodiment still includes the accelerometer, and this accelerometer is used for detecting the gesture qmesa of shooting the device. The posture of the handle is determined according to the posture of the shooting device and the joint angles of the holder, taking a three-axis holder with a handheld holder in a ZXY configuration as an example, the joint angles of the holder comprise a yaw joint angle joint _ yaw, a roll joint angle joint _ roll and a pitch joint angle joint _ pitch, and each joint angle is the joint angle of the corresponding axis motor. Q _ yaw, q _ roll and q _ pitch are obtained according to an axis angle conversion formula, and the conjugates or inverses of q _ yaw, q _ roll and q _ pitch are q _ yaw _ inv, q _ roll _ inv and q _ pitch _ inv, respectively. The calculation formula of the handle posture qhandle is as follows:
qhandle＝qmesa*q_pitch_inv*q_roll_inv*q_yaw_inv (1)；
where joint represents a joint angle and q represents a quaternion.
(2) And controlling the optical axis direction of the shooting device to be approximately parallel to the middle plane of the base through the holder according to the posture of the base.
Along the embodiment of the handheld cloud platform shown in fig. 1, when the shooting device is switched to shoot in a vertical orientation, the problem of dead locking of the universal joint caused by a small included angle between the outer frame and the middle frame can be avoided by controlling the optical axis direction of the shooting device to be approximately parallel to the middle plane of the base; simultaneously, this kind of setting makes the cloud platform have great rotation range in the driftage direction, and shooting device's shooting range is wider. When the cloud platform is a handheld cloud platform, the base is a handle, and the middle plane of the base is the middle plane of the handle in the length direction.
When the second photographing mode is photographing in a horizontal orientation, the target pose includes a target roll pose component of the photographing device being 0 degrees, 180 degrees, or-180 degrees. In this embodiment, according to the switched control instruction, the pan/tilt head is controlled to rotate, so that the target roll attitude component of the shooting device is 0 degree, 180 degrees, or-180 degrees, thereby switching the shooting device to shooting in a horizontal orientation. Alternatively, the target attitude comprises a target pitch attitude component of the photographing device being 0 degrees, i.e., an optical axis of the photographing device is substantially parallel to a horizontal plane. Optionally, the target pose includes a target pitch pose component of the camera other than 0 degrees, such as 0 to 20 degrees (face up), 0 to-20 degrees (face down), or 45 degrees self-timer when the camera is in self-timer mode.
In step S203, according to the switched control instruction and the target posture, the implementation process of controlling the rotation of the pan/tilt head may include:
(1) acquiring the real-time posture of the shooting device;
(2) determining the initial attitude of the shooting device during mode switching according to the real-time attitude and the switched control instruction;
in this embodiment, according to the real-time attitude and the control instruction after switching, determining the implementation process of the initial attitude of the shooting device during mode switching may include: determining an attitude cosine matrix according to the real-time attitude; and determining the initial attitude of the shooting device during mode switching according to the attitude cosine matrix and the Euler angle rotation sequence of the shooting device corresponding to the switched control instruction.
Optionally, the attitude cosine matrix is characterized by a quaternion, where q denotes a quaternion.
Take the pan-tilt head in the ZXY configuration and control the shooting device to switch from horizontal orientation shooting to vertical orientation shooting as an example.
Wherein, when the shooting device shoots in the horizontal orientation, the Euler angle rotation sequence of the shooting device is as follows: z, X, Y, abbreviated as ZXY rotation sequence; when the photographing device photographs in a vertical orientation, the euler angle rotation order of the photographing device is: z, X, Z, ZXZ for short.
In this embodiment, the conversion formula from the euler angle to the quaternion in the ZXY rotation sequence is as follows:
E ZXY＝q ZXY (2)；
the real-time attitude of the shooting device is the euler angle of the ZXY rotation sequence, and if the euler angle of the ZXY rotation sequence is (Out _ Z, Mid _ X, Inn _ Y), where Out _ Z, Mid _ X, Inn _ Y corresponds to the size of the euler angle rotating around Z, X, Y, the formula (2) is converted into:
Figure PCTCN2019130860-APPB-000001
at the instant of mode switching:
q ZXY＝q ZXZ (4)；
in addition, q ═ q0,q 1,q 2,q 3] (5)；
q 0、q 1、q 2、q 3The four elements, which are quaternions respectively, in combination with equations (3) and (5) can be determined:
Figure PCTCN2019130860-APPB-000002
Figure PCTCN2019130860-APPB-000003
Figure PCTCN2019130860-APPB-000004
Figure PCTCN2019130860-APPB-000005
the formula for one solution to the conversion of the euler angles of the q to ZXZ rotation sequence is as follows:
Figure PCTCN2019130860-APPB-000006
the initial attitude of the camera at the time of mode switching can be determined by combining equations (3) to (6), and the initial attitude is the euler angles (Out _ Z, Mid _ X, Inn _ Z) in the ZXZ rotation sequence, wherein Out _ Z, Mid _ X, Inn _ Z corresponds to the euler angle size of rotation around Z, X, Z. Out _ Z, Mid _ X, Inn _ Z is respectively one solution of Euler angles of corresponding ZXZ rotation sequences, and the other solution is (-pi + Inn _ Z, -Mid _ X, -pi + Out _ Z), and the specific solution is determined according to information such as current base attitude orientation and the like. When Mid _ X is 0 degree or ± 180 degrees, the euler angle of the ZXZ rotation sequence is singular (i.e. causing the gimbal to lock), which does not support the switching of the photographing device from horizontal to vertical, at this time, Mid _ X is first controlled to rotate a certain angle (leaving the area of 0 degree or ± 180 degrees) in horizontal photographing, that is, the switching of the photographing device from horizontal to vertical photographing is supported. When Mid _ X is not 0 degrees nor ± 180 degrees, there is no euler angle singularity problem of ZXZ rotation order.
Taking the pan-tilt head with ZXY configuration and controlling the shooting device to switch from vertical shooting to horizontal shooting as an example.
ZXZ the euler angle to quaternion conversion formula for the rotation sequence is as follows:
E ZXZ＝q ZXZ (7)；
assuming ZXZ that the Euler angles of the rotation sequence are (Out _ Z, Mid _ X, Inn _ Z), equation (7) translates to:
Figure PCTCN2019130860-APPB-000007
in conjunction with equations (8) and (5), it can be determined that:
Figure PCTCN2019130860-APPB-000008
Figure PCTCN2019130860-APPB-000009
Figure PCTCN2019130860-APPB-000010
in conjunction with equation (4), the equation for one solution to the conversion of the euler angles of the q to ZXY rotation order is as follows:
Figure PCTCN2019130860-APPB-000011
by combining the formulas (4), (5), (8) and (9), the initial attitude of the imaging apparatus at the time of mode switching can be determined, and the initial attitude is the euler angle (Out _ Z, Mid _ X, Inn _ Y) in the ZXY rotation order. Out _ Z, Mid _ X, Inn _ Y are each a solution of the Euler angles of the corresponding ZXY rotation order, if Mid _ X >0.0, the X component of the other solution is pi-Mid _ X, otherwise, the X component of the other solution is-pi-Mid _ X. The Y component of the other solution is-pi + Inn _ Y, normalized to the + -pi range. The Z component of the other solution is-pi + Out _ Z, the Z component is normalized to a range of +/-pi, and the specific solution is determined according to the current attitude orientation and other information of the base. When Mid _ X is ± 90 degrees, the euler angles of the ZXY rotation sequence are singular, and the photographing device is not supported to be switched from the vertical-orientation photographing to the horizontal-orientation photographing, and at this time, the Mid _ X is controlled to rotate by a certain angle (leaving the area of ± 90 degrees) in the vertical-orientation photographing, that is, the photographing device is supported to be switched from the vertical-orientation photographing to the horizontal-orientation photographing. When Mid _ X is not ± 90 degrees, there is no euler angle singularity problem of the ZXY rotation order.
In the above embodiment, pi is 180 degrees.
(3) And controlling the cradle head to rotate according to the initial attitude and the target attitude.
In the step, the shooting device can be controlled to reach the initial posture through the cradle head, and then the shooting device is controlled to reach the target posture from the initial posture through the cradle head; the initial posture and the target posture can be superposed, and the shooting device is controlled by the holder to reach the superposed posture.
Corresponding to the control method of the cloud deck of the above embodiment, the embodiment of the present application further provides a cloud deck, please refer to fig. 1 and 6, which includes a base, a shaft assembly and a controller. The shaft assembly is arranged on the base and used for carrying the shooting device. The axle assembly of this embodiment is configured to rotate about at least two axes, optionally a yaw axis, a pitch axis and a roll axis; optionally, the shaft assembly is configured to rotate about a yaw axis and a pitch axis. The controller is electrically connected with the holder, and optionally, the controller is arranged on the base.
Specifically, the controller is configured to: acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode; switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device; controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to a second shooting mode; wherein the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation.
The implementation process and the working principle of the controller can be referred to the description of the control method of the pan/tilt head of the above embodiment, and are not described herein again.
The controller of this embodiment may be a Central Processing Unit (CPU). The controller may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
In addition, when the cloud platform is the handheld cloud platform, the base can be the handle of handheld cloud platform, or locate on the handle of handheld cloud platform.
Furthermore, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the control method of the pan and tilt head of the above-mentioned embodiment.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the cradle head according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the cradle head, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the pan/tilt head. The computer-readable storage medium is used for storing the computer program and other programs and data required by the head, and may also be used for temporarily storing data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only a few examples of the present application, and certainly should not be taken as limiting the scope of the present application, which is therefore intended to cover all modifications that are within the scope of the present application and which are equivalent to the claims.

Claims (50)

  1. A method of controlling a pan/tilt head on which a photographing device is mounted, the pan/tilt head being configured to rotate about at least two axes, the method comprising:
    acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode;
    switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device;
    controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to the second shooting mode;
    wherein the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation.
  2. The method of claim 1, wherein the first orientation comprises one of a horizontal orientation and a vertical orientation.
  3. The method of claim 1 or 2, wherein the second orientation comprises the other of a horizontal orientation and a vertical orientation.
  4. The method of claim 3, wherein the Euler angles of the camera correspond to rotations of a first axis, a second axis, and a third axis, the first axis being parallel to the direction of the optical axis of the camera, the first axis, the second axis, and the third axis being orthogonal, respectively;
    when the second shooting mode is shooting in a vertical orientation, the euler angle rotation sequence of the shooting device corresponding to the switched control instruction is as follows: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft.
  5. The method of claim 4, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: third axle, first axle, third axle.
  6. The method of claim 4, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second shaft, first shaft, second shaft.
  7. The method of claim 3, wherein the Euler angles of the camera correspond to rotations of a first axis, a second axis, and a third axis, the first axis being parallel to the direction of the optical axis of the camera, the first axis, the second axis, and the third axis being orthogonal, respectively;
    when the second shooting mode is shooting in a horizontal orientation, the euler angle rotation order of the shooting device corresponding to the switched control command is as follows: a second axis, a first axis, a third axis, or a third axis, a first axis, a second axis.
  8. The method of claim 7, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: third axle, first axle, second axle.
  9. The method of claim 7, wherein the third axis is a vertical direction when the camera is placed in a horizontal orientation with an optical axis of the camera parallel to a horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second axis, first axis, third axis.
  10. The method according to any one of claims 1 to 3, wherein switching the control command of the pan/tilt head according to the switching command comprises:
    acquiring a real-time roll attitude component of the shooting device;
    and if the real-time rolling attitude component meets a preset condition, switching the control instruction of the holder according to the switching instruction.
  11. The method of claim 10, further comprising:
    and if the real-time rolling attitude component does not meet the preset condition, controlling the holder to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  12. The method according to claim 11, wherein when the first photographing mode is photographing in a horizontal orientation, the preset conditions include: the real-time roll attitude component is not 0 degrees, 180 degrees, or-180 degrees.
  13. The method according to claim 11, wherein when the first photographing mode is photographing in a vertical orientation, the preset conditions include: the real-time roll attitude component is not 90 degrees or-90 degrees.
  14. The method according to claim 11, wherein the controlling the pan/tilt head to rotate so that the real-time roll attitude component of the photographing apparatus is shifted by a preset angle and the shifted real-time roll attitude component of the photographing apparatus satisfies the preset condition comprises:
    and controlling the cradle head to rotate according to a control instruction corresponding to the first shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  15. The method according to any one of claims 1 to 3, wherein the controlling the pan/tilt head to rotate according to the switched control command comprises:
    determining a target posture of the shooting device according to the second shooting mode;
    and controlling the cradle head to rotate according to the switched control instruction and the target posture.
  16. The method of claim 15, wherein the target pose comprises a target roll pose component of the camera being 90 degrees or-90 degrees when the second capture mode is capture in a vertical orientation.
  17. The method of claim 16, wherein the controlling the pan/tilt head to rotate according to the switched control command and the target attitude further comprises:
    acquiring the posture of a base of the holder;
    and controlling the direction of the optical axis of the shooting device to be approximately parallel to the middle plane of the base through the holder according to the posture of the base.
  18. The method of claim 15, wherein the second capture mode is capture in a horizontal orientation, and wherein the target pose comprises a target roll pose component of the capture device of 0 degrees, 180 degrees, or-180 degrees.
  19. The method of claim 18, wherein the target pose comprises a target pitch pose component of the camera being 0 degrees.
  20. The method of claim 18, wherein the target pose comprises a target pitch pose component of the camera other than 0 degrees when the camera is in a self-timer mode.
  21. The method according to claim 15, wherein the controlling the pan/tilt head to rotate according to the switched control command and the target attitude comprises:
    acquiring a real-time posture of the shooting device;
    determining the initial attitude of the shooting device during mode switching according to the real-time attitude and the switched control instruction;
    and controlling the holder to rotate according to the initial attitude and the target attitude.
  22. The method of claim 21, wherein determining an initial posture of the camera at the time of mode switching according to the real-time posture and the control instruction after switching comprises:
    determining an attitude cosine matrix according to the real-time attitude;
    and determining the initial attitude of the shooting device during mode switching according to the attitude cosine matrix and the Euler angle rotation sequence of the shooting device corresponding to the switched control instruction.
  23. A method according to any one of claims 1 to 3, wherein the head comprises: the switching instruction is generated by triggering the control part by a user; or
    The switching instruction is generated by operating an external device by a user and is sent by the external device.
  24. A method according to any one of claims 1 to 3, wherein the head is configured to rotate about two axes, the two axes comprising a yaw axis and a pitch axis.
  25. A method according to any one of claims 1 to 3, wherein the head is configured to rotate about three axes, the three axes comprising a yaw axis, a pitch axis and a roll axis.
  26. A head, characterized in that it comprises:
    a base;
    the shaft assembly is arranged on the base and used for carrying a shooting device, and the shaft assembly is configured to rotate around at least two shafts; and
    the controller, the controller with the cloud platform electricity is connected, the controller is used for:
    acquiring a switching instruction for indicating the shooting device to switch from a first shooting mode to a second shooting mode;
    switching a control instruction of the holder according to the switching instruction, so that the holder keeps the rotational degree of freedom of the original dimension after mode switching, wherein the control instruction is determined according to the Euler angle rotation sequence of the shooting device;
    controlling the holder to rotate according to the switched control instruction, so that the shooting device is switched to the second shooting mode;
    wherein the first photographing mode includes one of photographing in a first orientation and photographing in a second orientation, and the second photographing mode includes the other of photographing in the first orientation and photographing in the second orientation.
  27. A head according to claim 26, wherein said first orientation comprises one of a horizontal orientation and a vertical orientation.
  28. A head according to claim 26 or 27, wherein said second orientation comprises the other of a horizontal orientation and a vertical orientation.
  29. A head according to claim 28, wherein said euler angles of said shooting means correspond to the rotation of a first axis, a second axis and a third axis, said first axis being parallel to the direction of the optical axis of said shooting means, said first axis, said second axis and said third axis being respectively orthogonal;
    when the second shooting mode is shooting in a vertical orientation, the euler angle rotation sequence of the shooting device corresponding to the switched control instruction is as follows: the second shaft, the first shaft, the second shaft, or the third shaft, the first shaft, the third shaft.
  30. A head according to claim 29, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to a horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: third axle, first axle, third axle.
  31. A head according to claim 29, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to a horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second shaft, first shaft, second shaft.
  32. A head according to claim 28, wherein said euler angles of said shooting means correspond to the rotation of a first axis, a second axis and a third axis, said first axis being parallel to the direction of the optical axis of said shooting means, said first axis, said second axis and said third axis being respectively orthogonal;
    when the second shooting mode is shooting in a horizontal orientation, the euler angle rotation order of the shooting device corresponding to the switched control command is as follows: a second axis, a first axis, a third axis, or a third axis, a first axis, a second axis.
  33. A head according to claim 32, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to the horizontal plane;
    when the holder is in a ZXY configuration, the Euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: third axle, first axle, second axle.
  34. A head according to claim 32, wherein said third axis is a vertical direction when said shooting device is placed in a horizontal orientation with its optical axis parallel to the horizontal plane;
    when the pan-tilt is in the YXZ configuration, the euler angle rotation sequence of the shooting device corresponding to the switched control command is as follows: second axis, first axis, third axis.
  35. A head according to any one of claims 26 to 28, wherein said controller, when switching said control commands of said head according to said switching commands, is configured in particular to:
    acquiring a real-time roll attitude component of the shooting device;
    and if the real-time rolling attitude component meets a preset condition, switching the control instruction of the holder according to the switching instruction.
  36. A head according to claim 35, wherein said controller is further adapted to:
    and if the real-time rolling attitude component does not meet the preset condition, controlling the holder to rotate so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  37. A head according to claim 36, wherein when said first shooting mode is shooting in a horizontal orientation, said preset conditions comprise: the real-time roll attitude component is not 0 degrees, 180 degrees, or-180 degrees.
  38. A head according to claim 36, wherein when said first shooting mode is a shooting in vertical orientation, said preset conditions comprise: the real-time roll attitude component is not 90 degrees or-90 degrees.
  39. A holder according to claim 36, wherein the controller is configured to, when controlling the rotation of the holder so as to offset the real-time roll attitude component of the camera by a preset angle and so as to satisfy the preset condition, in particular:
    and controlling the cradle head to rotate according to a control instruction corresponding to the first shooting mode so as to enable the real-time rolling attitude component of the shooting device to deviate by a preset angle and enable the deviated real-time rolling attitude component of the shooting device to meet the preset condition.
  40. A head according to any one of claims 26 to 28, wherein said controller, when controlling said head to rotate according to the switched control commands, is configured to:
    determining a target posture of the shooting device according to the second shooting mode;
    and controlling the cradle head to rotate according to the switched control instruction and the target posture.
  41. A head according to claim 40, wherein said target attitude comprises a target roll attitude component of said camera being 90 degrees or-90 degrees when said second shooting mode is shooting in a vertical orientation.
  42. A holder according to claim 41, wherein said controller, when controlling said holder to rotate according to said switched control commands and said target attitude, is further configured to:
    acquiring the posture of a base of the holder;
    and controlling the direction of the optical axis of the shooting device to be approximately parallel to the middle plane of the base through the holder according to the posture of the base.
  43. A head according to claim 40, wherein said second shooting mode is shooting in a horizontal orientation, said target attitude comprising a target roll attitude component of said shooting device being 0 degrees, 180 degrees or-180 degrees.
  44. A head according to claim 43, wherein said target attitude comprises a target pitch attitude component of said camera of 0 degrees.
  45. The head according to claim 43, wherein said target attitude comprises a target pitch attitude component of said camera other than 0 degrees when said camera is in a self-timer shooting mode.
  46. A holder according to claim 40, wherein said controller, when controlling said holder to rotate according to said switched control command and said target attitude, is configured to:
    acquiring a real-time posture of the shooting device;
    determining the initial attitude of the shooting device during mode switching according to the real-time attitude and the switched control instruction;
    and controlling the holder to rotate according to the initial attitude and the target attitude.
  47. A holder according to claim 46, wherein the controller, when determining the initial attitude of the camera at the time of mode switching based on the real-time attitude and the switched control instruction, is specifically configured to:
    determining an attitude cosine matrix according to the real-time attitude;
    and determining the initial attitude of the shooting device during mode switching according to the attitude cosine matrix and the Euler angle rotation sequence of the shooting device corresponding to the switched control instruction.
  48. A head according to any one of claims 26 to 28, wherein said head comprises: the switching instruction is generated by triggering the control part by a user; or
    The switching instruction is generated by operating an external device by a user and is sent by the external device.
  49. A head according to any one of claims 26 to 28, wherein said head is configured to rotate about two axes, said two axes comprising a yaw axis and a pitch axis.
  50. A head according to any one of claims 26 to 28, wherein said head is configured to rotate about three axes, including a yaw axis, a pitch axis and a roll axis.
CN201980091847.6A 2019-12-31 2019-12-31 Cloud deck control method and cloud deck Pending CN113424126A (en)

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